async def test_hw_manager(loop):
# When built without an input it should build its own adapter
mgr = HardwareManager(None)
adapter = mgr.hardware
# When "disconnecting" from its own simulator, the adapter should
# be stopped and a new one created
new = mgr.reset_hw()
assert new is not adapter
# When deleted, the self-created adapter should be stopped
del mgr
# When built with a hardware API input it should wrap it with a new
# synchronous adapter and not build its own API
sim = await API.build_hardware_simulator(loop=loop)
mgr = HardwareManager(sim)
assert isinstance(mgr.hardware, adapters.SynchronousAdapter)
passed = mgr.hardware
# When disconnecting from a real external adapter, it should create
# its own simulator and should
new = mgr.reset_hw()
assert new is not passed
thread_manager = ThreadManager(API.build_hardware_simulator)
sa = thread_manager.sync
# When connecting to an adapter it shouldn’t rewrap it
assert mgr.set_hw(sa) is sa
del mgr
thread_manager.clean_up()
async def test_synch_adapter():
thread_manager = ThreadManager(API.build_hardware_simulator)
synch = thread_manager.sync
synch.cache_instruments({Mount.LEFT: 'p10_single'})
assert synch.attached_instruments[Mount.LEFT]['name']\
.startswith('p10_single')
thread_manager.clean_up()
def sync_hardware(request, loop, virtual_smoothie_env):
thread_manager = ThreadManager(API.build_hardware_controller)
hardware = thread_manager.sync
try:
yield hardware
finally:
hardware.reset()
hardware.set_config(config.robot_configs.load())
thread_manager.clean_up()
async def hardware(request, loop, virtual_smoothie_env):
hw_sim = ThreadManager(API.build_hardware_simulator)
old_config = config.robot_configs.load()
try:
yield hw_sim
finally:
config.robot_configs.clear()
hw_sim.set_config(old_config)
hw_sim.clean_up()
